Handheld gimbal control method and handheld gimbal

ABSTRACT

A method of controlling a handheld gimbal includes obtaining an input instruction, and selecting one follow mode from a plurality of follow modes for following movement of an input device or a handheld member of the handheld gimbal based on the input instruction. The plurality of follow modes have different following speeds, and include a rapid follow mode. The method further includes controlling movement of the handheld gimbal using the selected one follow mode to follow the movement of the input device or the handheld member. In response to the rapid follow mode being selected, the movement of the handheld gimbal is controlled according to a sum of a first speed and a second speed. The first speed and the second speed are determined based on different information.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. application Ser.No. 16/569,084, filed on Sep. 12, 2019, which is a continuationapplication of International Application No. PCT/CN2018/071675, filed onJan. 5, 2018, the entire contents of both of which are incorporatedherein by reference.

TECHNICAL FIELD

The present disclosure relates to control technology and, moreparticularly, to a handheld gimbal control method and a handheld gimbal.

BACKGROUND

An object may be mounted on a handheld gimbal, and the handheld gimbalcan securely hold the object, arbitrarily adjust the object attitude(e.g., changing a height, an angle, and/or an orientation of theobject), or stabilize the object to maintain a certain attitude. Forexample, a photograph device mounted on the handheld gimbal may capturestable, smooth, and multi-angle images or videos.

The photograph device mounted on the handheld gimbal may often move invarious manners. For example, under a certain scenario, a user mayrapidly rotate the handheld gimbal.

Controlling the movement of the handheld gimbal to track various sportsactivities is an urgent problem to solve.

SUMMARY

In accordance with the disclosure, there is provided a handheld gimbalcontrol method and device, and a handheld gimbal, to track varioussports activities.

In one aspect, there is provided a method of controlling a handheldgimbal including obtaining an input instruction, and selecting onefollow mode from a plurality of follow modes for following movement ofan input device or a handheld member of the handheld gimbal based on theinput instruction. The plurality of follow modes have differentfollowing speeds. The method further includes controlling movement ofthe handheld gimbal using the selected follow mode to follow themovement of the input device or the handheld member.

In another aspect, there is provided a handheld gimbal including aninput device configured to obtain an input instruction, a handheldmember connected to the input device, a bracket connected to the inputdevice, and a processor. The bracket include one or more axis assemblieseach including an axis arm and an electric motor for driving the axisarm to move. The processor is configured to select one follow mode froma plurality of follow modes for following the input device or thehandheld member based on the input instruction. The plurality of followmodes have different following speeds. The processor is furtherconfigured to control movement of the one or more axis assemblies usingthe selected follow mode to follow the movement of the input device orthe handheld member.

BRIEF DESCRIPTION OF THE DRAWINGS

To more clearly illustrate the technical solution of the presentdisclosure, the accompanying drawings used in the description of thedisclosed embodiments are briefly described hereinafter. Obviously, thedrawings described below are merely some embodiments of the presentdisclosure. Other drawings may be derived from such drawings by a personwith ordinary skill in the art without creative efforts and may beencompassed in the present disclosure.

FIG. 1 is a schematic diagram of a handheld gimbal according to anexample embodiment.

FIG. 2 is an illustrative diagram of a handheld gimbal control methodaccording to an example embodiment.

FIG. 3 is an illustrative diagram of a handheld gimbal control methodaccording to an example embodiment.

FIG. 4 is a block diagram of a handheld gimbal control device accordingto an example embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that the describedembodiments are some rather than all of the embodiments of the presentdisclosure. Other embodiments conceived by those having ordinary skillsin the art on the basis of the described embodiments without inventiveefforts should fall within the scope of the present disclosure.

It should be noted that, in some embodiments, when one component is“fixedly connected” or “connected” to another component, or onecomponent is “fixed” to another component, the component may directlycontact the another component, or may not directly contact the anothercomponent and may have something in-between.

Unless otherwise specified, all the technical and scientific terms usedin the embodiments of the present disclosure refer to the same meaningcommonly understood by those skilled in the art. The terminologies usedin the present disclosure are intended to describe specific embodiments,and not to limit the scope of the present disclosure. The term “and/or”includes any and all combinations of one or more of the listed items.

The handheld gimbal may hold a load (e.g., a photograph device), and maybe configured to fasten the load, change a height, an inclination angle,and/or an orientation, or to keep the load in a certain attitude.

In some embodiments, the handheld gimbal may hold other non-photographdevices. The handheld gimbal may be referred to as other names, forexample, a load support frame, which is not limited by the presentdisclosure.

The handheld gimbal of the present disclosure will be described belowwith reference to FIG. 1.

FIG. 1 is a schematic diagram of a handheld gimbal according to anexample embodiment. As shown in FIG. 1, the handheld gimbal 100 includesa bracket 110, an input device 120 connected to the bracket 110, and adetachable handheld member 130 connected to the input device 120. Thebracket 110 is connected to the handheld member 130 through the inputdevice 120.

The bracket 110 includes a pitch axis assembly having a pitch axiselectric motor 113-1 and a pitch axis arm 113-2, a roll axis assemblyhaving a roll axis electric motor 112-1 and a roll axis arm 112-2, a yawaxis assembly having a yaw axis electric motor 111-1 and a yaw axis arm111-2, a fastening assembly 115 directly connected to one side of thepitch axis arm 113-2, a sliding assembly having a slider 116 and asupport plate 117 and disposed on the fastening assembly 115, a lensholder 118 disposed on the support plate 117, and a positioning assembly114 connected to the other side of the pitch axis arm 113-2. The slidingassembly may slide relative to the fastening assembly 115. A photographdevice is disposed on the sliding assembly. In some embodiments, theslider 116 may slide relative to the support plate 117. The supportplate 117 may further slide relative to the fastening assembly 115. Thesupport plate 117 may be fastened to the fastening assembly 115. In someembodiments, the sliding assembly may include only the support plate 117sliding relative to the fastening assembly 115. The support plate 117may directly hold the photograph device.

The pitch axis electric motor 113-1 may drive the pitch axis arm 113-2to move. The roll axis electric motor 112-1 may drive the roll axis arm112-2 to move. The yaw axis electric motor 111-1 may drive the yaw axisarm 111-2 to move.

The positioning assembly 114 may rotate relative to the pitch axis arm113-2. The positioning assembly 114 may include a rotating arm 114 arotatable around the pitch axis arm 113-2 and a connecting member 114 bconfigured to slide relative to the rotating arm 114 a and to connect tothe photograph device.

When in use, the photograph device may be fastened to the slider 116.The relative position between the connecting member 114 b and thesliding assembly may be adjusted. When the connecting member 114 bconnects to a positioning portion of the photograph device, the slidingassembly may be locked to the fastening assembly 115 to hold thephotograph device between the positioning assembly 114 and the fasteningassembly 115. The lens holder 118 may hold a lens of the photographdevice. The slider 116 or the support plate 117 of the sliding assemblymay be slid to adapt to various types of long and/or short lens, or tozoom-in and zoom-out the lens.

An inertial measurement unit (IMU), such as at least one of anaccelerometer or a gyroscope may be disposed inside the fasteningassembly 115 to measure the attitude and acceleration of the photographdevice. The IMU may also be disposed inside the positioning assembly114.

It should be understood that the bracket 110 may include only one or twoaxis assemblies. Although the yaw axis assembly is connected to one endof the roll axis assembly and the pitch axis assembly is connected tothe other end of the roll axis assembly as shown in FIG. 1, thearrangement is not intended to limit the present disclosure. The yawaxis assembly, the roll axis assembly, and the pitch axis assembly maybe arranged differently.

The input device 120 may be configured for a user to input operationinstructions to the handheld gimbal 100. The input device 120 mayinclude a follow-mode input component 121 and a control joystick 122.

The control joystick 122 may control the movement of the axisassemblies, for example, rotating one of the axis assemblies of thehandheld gimbal 100 in a direction corresponding to the respective axisassembly by toggling the control joystick 122.

The follow-mode input component 121 may allow a user to select one offollow modes described in the embodiments of the present disclosure.

In some embodiments, the follow-mode input component 121 may includethree indicators on the left side and a control button on the rightside. The control button is configured to select one of the followmodes. Each indicator may correspond to one of regular follow modes.When one of the regular follow modes is selected, the correspondingindicator may be lit.

The user may select one of the regular follow modes by briefly pressingthe control button on the right side. For example, after the handheldgimbal 100 is powered up, the user may briefly press the control buttonon the right side once. The right-most indicator may be turned on,indicating that one of the regular follow modes corresponding to theright-most indicator is selected. Briefly pressing the control buttononce again may turn off the right-most indicator and turn on the centerindictor, indicating that one of the regular follow modes correspondingto the center indicator is selected. When the same operation isrepeated, the center indicator may turn off, and the left-most indicatormay turn on, indicating that one of the regular follow modescorresponding to the left-most indicator is selected.

The user may long press the control button on the right side. When theuser is persistently pressing or long pressing the button, the handheldgimbal 100 may enter a rapid follow mode. No indicator may be turned on.When the user releases the control button, the handheld gimbal 100 mayreturn to the regular follow mode selected prior to the long press.

It should be understood that the manner of selecting one of the followmodes is not limited by the present disclosure.

For example, when the user briefly presses the control button threetimes in a row, the indicators may take turn to be turned on from theleft to the right.

In some embodiments, the number of the indicators may not be limited tothree. The number of the indicators may be less than three or more thanthree.

In some embodiments, the follow-mode input component 121 may include noindicators and may include a plurality of control buttons to match thenumber of the follow modes. Each control button may correspond to one ofthe follow modes.

In some embodiments, the follow-mode input component 121 may include aplurality of control buttons matching the number of the follow modes.Each control button may correspond to one of the follow modes. Anindicator may be configured adjacent to each control button to indicatethat the corresponding follow mode is selected.

In some embodiments, the follow-mode input component 121 may be disposedon other portion of the input device 120, for example, under the controljoystick 122.

In some embodiments, in addition to the follow-mode input component 121and the control joystick 122, the input device 120 may further includeother components, for example, a power on/off switch of the handheldgimbal 100.

The input device 120 may be connected to the bracket 110. An IMU may bedisposed in the input device 120 to measure the attitude andacceleration of the input device 120.

A processor may be disposed in the input device 120 to process inputtedcontrol instructions or to transmit/receive signals. The processor maybe disposed in the handheld member 130.

In some embodiments, the processor may include a central processing unit(CPU). The processor may include another generic processor, a digitalsignal processor (DSP), an application specific integrated circuit(ASIC), a field programmable gate arrays (FPGA), or another programmablelogic device, a discrete gate or transistor logic device, or a discretehardware component, etc. The generic processor may include amicroprocessor or any conventional processor.

The processor may communicate with a terminal. The user may configurethe parameters for controlling the handheld gimbal 100 through an APPinstalled on the terminal, such as a speed parameter corresponding toone of the follow modes described in the embodiments of the presentdisclosure.

In some embodiments, the input device 120 may include another inputinterface, such as a display screen, for the user to configure one speedparameter for each follow mode.

The handheld member 130 may be detachably connected to the input device120. The handheld member 130 may be a lanyard or a handle. The handheldmember 130 may include a power on/off switch of the handheld gimbal 100,or an IMU configured to measure the attitude and acceleration, etc., ofthe handheld member 130. The handheld member 130 may further include abattery that supplies power to the handheld gimbal 100. The handheldmember 130 may be connected to the input device 120 mechanically andelectrically.

The handheld gimbal 100 has been described in the embodiments of thepresent disclosure. Controlling the movement of the handheld gimbal 100is described below.

FIG. 2 is a flow chart of a handheld gimbal control method according toan example embodiment. As shown in FIG. 2, the method 200 includes atleast a portion of the following.

At 210, the processor obtains a first input instruction.

The first input instruction selects one from a plurality of follow modesfor following the movement of the input device 120 or the handheldmember 130 of the handheld gimbal 100. The plurality of follow modes mayhave different following speeds.

In some embodiments, a user may send instructions to the processor usingthe input device 120 (e.g., by pressing a control button) to notify thehandheld gimbal 100 of entering one of the plurality of follow modes.

In some embodiments, the input device 120 may include at least onecontrol button. The processor may obtain the first input instructiontriggered by one of the at least one control button.

For example, in the handheld gimbal 100 shown in FIG. 1, the user maypress the control button on the right-most side of a follow-mode inputcomponent 121 to input the first input instruction.

In some embodiments, the input device 120 may include a plurality ofcontrol buttons matching the number of the plurality of follow modes.The first input instruction triggered by one of the at least one controlbutton may be used to select one of the plurality of follow modes.

In some embodiments, the plurality of control buttons may be disposed onthe follow-mode input component 121 of the handheld gimbal 100 in FIG. 1(replacing the control button and three indicators in FIG. 1). Eachcontrol button may correspond to one of the plurality of follow modes.

In some embodiments, the at least one control button may include a firstcontrol button. When the first control button persistently triggers thefirst input instruction, the processor may select another of theplurality of follow modes. The another of the plurality of follow modesmay be a rapid follow mode.

In some embodiments, the user may persistently press the control buttonon the right-most side of the follow-mode input component 121 of thehandheld gimbal 100. During the persistent pressing, the control buttonmay repeatedly output the first input instruction to the processor, andthe processor may control the handheld gimbal 100 to enter the rapidfollow mode.

In some embodiments, when the first control button finishes persistentlytriggering the first input instruction, the handheld gimbal 100 mayreturn to the follow mode before the first control button persistentlytriggered the first input instruction.

In some embodiments, the user may persistently press the control buttonon the right-most side of the follow-mode input component 121 of thehandheld gimbal 100. During the persistent pressing, the control buttonmay repeatedly output the first input instruction to the processor. Theprocessor may control the handheld gimbal 100 to enter the rapid followmode. When the user releases the control button, the handheld gimbal 100may return to the previously selected follow mode and may follow themovement of the input device 120 or the handheld member 130 according tothe previously selected follow mode.

In some embodiments, if the handheld gimbal 100 is in a non-follow modebefore entering the rapid follow mode, the handheld gimbal 100 mayreturn to the non-follow mode or may select one of the plurality offollow modes to follow.

In some embodiments, the plurality of follow modes may include aplurality of first follow modes. When the first input instruction is aninstant instruction triggered by the first control button, one firstfollow mode may be selected from the plurality of first follow modes.The selected first follow mode may be a regular follow mode.

In some embodiments, more first follow modes may be sequentiallyselected from the plurality of first follow modes.

In some embodiments, the input device 120 may include a plurality ofindicators. The plurality of indicators may correspond to the pluralityof first follow modes. The processor may turn on the correspondingindicator when one of the plurality of first follow modes is selected.

In some embodiments, as shown in FIG. 1, the follow-mode input component121 of the input device 120 includes three indicators, corresponding tothree first or regular follow modes.

The user may briefly press the control button on the right side toselect one of the three first or regular follow modes. For example, uponpower-up of the handheld gimbal 100, the user may briefly press thecontrol button on the right side once. The indicator on the right-mostside may turn on, indicating that one of the three the first or regularfollow modes corresponding to the right-most indicator is selected. Theuser may briefly press the control button once again. The right-mostindicator may turn off and the center indicator may turn on, indicatingthat one of the three first or regular follow modes corresponding to thecenter indicator is selected. The user may briefly press the controlbutton once again. The center indictor may turn off and the left-mostindicator may turn on, indicating that one of the three first or regularfollow modes corresponding to the left-most indicator is selected.

In some embodiments, the handheld gimbal 100 may use another manner toselect one of the plurality of follow modes through the control button,which is not limited by the present disclosure.

In some embodiments, the plurality of follow modes may have differentfollowing speeds in terms of a maximum following speed, an averagefollowing speed, or a minimum following speed.

In some embodiments, not following may be considered a non-follow mode.

At 220, based on the first input instruction, the processor selects onefollow mode from a plurality of follow modes.

At 230, the processor controls the movement of the handheld gimbal usingthe selected follow mode to follow the movement of the input device orthe handheld member.

In some embodiments, the processor may obtain a second inputinstruction. Based on the second input instruction, the processor maydetermine axis assemblies of the handheld gimbal 100 that need to moveand may control the movement of the pertaining axis assemblies using theselected follow mode.

In some embodiments, the user may select individual axis assembly tofollow using the input device 120 (assuming that desired controlcomponents are configured in the input device 120) or an APP installedon a terminal, which includes whether the roll axis assembly follows,whether the pitch axis assembly follows, and whether the yaw axisassembly follows.

Thus, after obtaining the instruction inputted by the user, theprocessor may determine the pertaining axis assemblies, and may controlthe movement of the pertaining axis assemblies.

In some embodiments, the second input instruction may correspond tocertain follow modes. That is, the second input instruction may be usedto determine the pertaining axis assemblies that need to follow in thecertain follow modes and may not be used to determine the pertainingaxis assemblies that need to follow in other follow modes different fromthe certain follow modes.

In some embodiments, the second input instruction may be applicable toall of the plurality of follow modes. That is, the second input mode maybe used to determine the pertaining axis assemblies that need to followin all of the plurality of follow modes.

In some embodiments, when the following speed (e.g., the maximumfollowing speed, the average following speed, or the minimum followingspeed) in any of the plurality of follow modes is the maximum or exceedsa certain threshold, a roll axis arm of the handheld gimbal 100 maymaintain a horizontal attitude or not follow.

In some embodiments, when the following speed (e.g., the maximumfollowing speed, the average following speed, or the minimum followingspeed) in any of the plurality of follow modes is the maximum or exceedsa certain threshold, a yaw axis arm of the handheld gimbal 100 maymaintain a horizontal attitude or not follow.

In some embodiments, when the following speed (e.g., the maximumfollowing speed, the average following speed, or the minimum followingspeed) in any of the plurality of follow modes is the maximum or exceedsa certain threshold, a pitch axis arm of the handheld gimbal 100 maymaintain a horizontal attitude or not follow.

In some embodiments, the plurality of follow modes may include a firstfollow mode and a second follow mode. In the first follow mode, a firstspeed is calculated to control the handheld gimbal 100. In the secondfollow mode, a second speed is calculated and the first speed and thesecond speed are summed to control the handheld gimbal 100.

That is, compared to the first follow mode, the second follow mode mayhave a control speed higher by the second speed. The control speed ofthe second follow mode may be higher than the control speed of the firstfollow mode.

The first follow mode may be referred to as a regular follow mode. Thesecond follow mode may be referred to as a rapid follow mode.

The first speed and the second speed may be calculated as follows.

In some embodiments, the first speed may be determined based on adifference between the actual attitude of the photograph device held bythe handheld gimbal 100 and the actual attitude of the input device 120or the handheld member 130.

In some embodiments, the actual attitude of the input device 120 or thehandheld member 130 may be subtracted by the actual attitude of thephotograph device and a dead_band to obtain the amount of the attitudethat the photograph device needs to be adjusted. Based on anacceleration of the input device 120 or the handheld member 130, anamount of a dynamic following change may be determined. The amount ofthe attitude that the photograph device needs to be adjusted may bemultiplied by the amount of the dynamic following change and apre-configured speed coefficient to obtain the first speed.

In some embodiments, an inertial measurement unit (IMU) may be used todetermine the actual attitude of the photograph device. No relativemovement may exist between the IMU and the photograph device. The IMUmay be disposed on the positioning assembly 114 or the fasteningassembly 115.

In some embodiments, the attitude of the photograph device may beobtained by performing an integral correction to the measurements of thegyroscope and the accelerometer in the IMU disposed on the positioningassembly 114 or the fastening assembly 115. Because the photographdevice is fastened to the fastening assembly 115 or the positioningassembly 114, the attitude of the IMU is the same as the attitude of thephotograph device.

In some embodiments, movement data of the IMU fastened to the fasteningassembly 115 or the positioning assembly 114 and electric motors of thehandheld gimbal 100 may be used to determine the actual attitude of theinput device 120 or the handheld member 130.

In some embodiments, after obtaining the attitude through the IMUfastened to the fastening assembly 115 or the positioning assembly 114,the processor may perform calculation based on encoder data from thethree electric motor axes (e.g., the pitch axis, the roll axis, and theyaw axis) of the handheld gimbal 100 to obtain the attitude of the inputdevice 120 or the handheld member 130.

In some embodiments, the processor may calculate an attitude differenceatti_err between the actual attitude of the photograph device and theactual attitude of the input device 120 or the handheld member 130. Theattitude difference atti_err may be subtracted by the dead banddead_band, to obtain a following error (also referred to as an attitudeerror) follow_err. The processor may multiply the following errorfollow_err by an acceleration coefficient follow_acc_coef to obtain aspeed coefficient speed_coef.

The IMU disposed on the input device 120 or the handheld member 130 mayoutput an angular velocity omega_base of the input device 120 or thehandheld member 130. The IMU disposed on the fastening assembly 115 orthe positioning assembly 114 may output an angular velocity omega_cameraof the photograph device. If the angular velocity omega_base of theinput device 120 or the handheld member 130 suddenly increases andbecomes substantially larger than the angular velocity omega_camera ofthe photograph device, the speed coefficient speed_coef of the handheldgimbal 100 may be multiplied by an amount of the dynamic followingchange speed_dynamic_coef. If the angular velocity omega_base of theinput device 120 or the handheld member 130 suddenly decreases but theangular velocity omega_camera of the photograph device remainsunchanged, the amount of the dynamic following change speed_dynamic_coefmay remain unchanged to prevent a sudden change of the following speedof the handheld gimbal 100.

The following error follow_err may be multiplied by the speedcoefficient speed_coef and the amount of the dynamic following changespeed_dynamic_coef to obtain the following speed follow_speed. Anintegration calculation may be performed on the following speedfollow_speed and the result may be added to a target attitude of thehandheld gimbal 100.

In some embodiments, the dead band dead_band used in calculation of thefirst speed in the second follow mode may be smaller than the dead banddead_band used in calculation of the first speed in the first followmode.

Compared to the first follow mode, the second follow mode may have thegreater first speed based on the above calculation due to the smallerdead band dead_band.

In some embodiments, the amount of the dynamic following changespeed_dynamic_coefused in calculation of the first speed in the secondfollow mode may be greater than the amount of the dynamic followingchange speed_dynamic_coef used in calculation of the first speed in thefirst follow mode. Compared to the first follow mode, the second followmode may have the greater

first speed based on the above calculation method due to the greateramount of the dynamic following change speed_dynamic_coef.

In some embodiments, the speed coefficient speed_coef used incalculating the first speed in the second follow mode may be greaterthan the speed coefficient speed_coef used in calculation of the firstspeed in the first follow mode.

Compared to the first follow mode, the second follow mode may have thegreater first speed based on the above calculation method due to thegreater speed coefficient speed_coef.

In some embodiments, the second speed may be determined by a differencebetween a current target attitude and a preceding target attitude in theprocess of controlling the handheld gimbal 100.

In some embodiments, an attitude difference between the current targetattitude and the preceding target attitude of the photograph device inthe control process may be divided by a length of a control time periodto obtain the second speed.

In some embodiments, because the control of the handheld gimbal 100 is adifferential control, the rotating speed may be determined by thedifference between the target attitude and the actual attitude. In acertain follow mode, if the dead band dead_band, the amount of thedynamic following change speed_dynamic_coef, and/or the speedcoefficient speed_coef are configured to be relatively large, theattitude difference atti_err of the handheld gimbal 100 may berelatively small, and it is unlikely to obtain a relatively largefollowing speed follow_speed. Thus, a target rotating speed of thehandheld gimbal 100 may be calculated before the difference between thetarget attitude and the actual attitude is calculated, and the targetrotating speed may be added to the feedback-controlled target speed ofthe handheld gimbal 100.

In some embodiments, the difference between the current target attitudeand the preceding target attitude may be calculated. An updating timeinterval between the current target attitude and the preceding targetattitude may be calculated. Based on the principle ofspeed=distance/time, the target attitude difference may be divided bythe updating time interval to obtain the second speed of the handheldgimbal 100. The second speed derived from an attitude control closedloop may be added to the first speed to update the speed in an speedfeedback control closed loop.

In some embodiments, the processor may control the movement of thehandheld gimbal 100 at control time intervals. Calculating an amount ofthe movement of the handheld gimbal 100 at each control time intervalmay be equivalent to determining a movement speed of the handheld gimbal100.

In some embodiments, in each control time interval, the amount of theattitude (obtained by calculating the difference between the actualattitude of the input device 120 or the handheld member 130 and theattitude of the photograph device in real time) that the photographdevice needs to be adjusted may be calculated in real time, and/or theangular velocity of the input device 120 or the handheld member 130 andthe angular velocity of the photograph device may be calculated in realtime. The real time calculation may refer to performing the calculationonce every control time interval. The results may be different atdifferent control time intervals.

In some embodiments, both the first follow mode and the second followmode may involve calculating the first speed but may not need to add thesecond speed. The difference between different follow modes may includethe differences of the dead band, the amount of the dynamic followingchange, and/or the speed coefficient.

In some embodiments, the processor may obtain a third input instruction.Based on the third input instruction, the processor may pre-configurethe parameters for determining the following speeds in various followmodes in the handheld gimbal 100.

In some embodiments, the user may configure the following speed throughthe APP. In particular, the user may configure the parameters fordetermining the following speeds in various follow modes. For example,the configuration may include at least one of the dead band, the amountof the dynamic following change, or the speed coefficient. The at leastone of the dead_band, the amount of the dynamic following change, andthe speed coefficient may be configured for each follow mode.

The user may configure the parameters for each follow mode,respectively. When the user presses the control button, the processormay distinguish a time duration the user presses the control button,whether it is continuously pressed, and the prior follow mode todetermine a current follow mode and may retrieve the parameters of thecurrent follow mode to calculate the following speed in the currentfollow mode.

The plurality of follow modes may correspond to different users or maybe set by a same user.

In some embodiments, a plurality of parameter sets may be pre-configuredin the handheld gimbal 100. Each parameter set may be used to determinethe following speeds in various follow modes. The processor may obtain afourth input instruction. Based on the fourth input instruction, oneparameter set may be selected from the plurality of parameter sets tocalculate the following speeds in various follow modes.

In some embodiments, the user may configure the plurality of parametersets through the APP. Each parameter set may be used to determine thefollowing speeds in various follow modes. The user may select oneparameter set corresponding to a particular scenario. In someembodiments, the user may configure one parameter set only for the userthrough the APP. When the user operates the handheld gimbal 100, theuser may select the one parameter set configured by the same user.

For a clearer understanding of the present disclosure, the embodimentsof the present disclosure are described below with reference to thecontrol method of the handheld gimbal 100 shown in FIG. 3.

As shown in FIG. 3, a target attitude of a photograph device may beobtained according to an attitude of the input device 120 or thehandheld member 130 and/or control data inputted by a user through theinput device 120. The integrator may perform an integration operation onan angular velocity outputted by a gyroscope of an IMU to obtain ameasured attitude of the handheld gimbal 100. The target attitude of thephotograph device, the measured attitude of the handheld gimbal 100, andan acceleration of the input device 120 or the handheld member 130 maybe combined to obtain a first speed of the handheld gimbal 100. Twoadjacent target attitudes and a control time interval may be combined toobtain a second speed. Based on the first speed and the second speed,and taking into consideration of a control deviation, a control electriccurrent may be outputted to a 3-axis electric motor. The 3-axis electricmotor may produce a torque based on the control electric current to movethe handheld gimbal 100.

A main control board may provide the target attitude of the photographdevice. Based on the target attitude and the actual attitude of thephotograph device, a processor may provide a feedback control to reducethe deviation between the actual attitude and the target attitude, suchthat the actual attitude of the photograph device is substantially equalto the target attitude of the photograph device. The handheld gimbal 100may be controlled to move smoothly. The smooth movement of the handheldgimbal 100 is a mode that facilitates the target attitude of thephotograph device to follow the attitude of the input device 120 or thehandheld member 130 to rotate smoothly.

Thus, a rapidly moving follow mode in the embodiments of the presentdisclosure may facilitate capturing high motion sport activities,allowing the photograph device to fully follow the movement of the inputdevice 120 or the handheld member 130 while maintaining the steadiness.As a result, the images may faithfully capture the liveliness of thesport activities. Moreover, the photograph device may be kept in ahorizontal attitude on the roll axis while maintaining the steadiness.As a result, the captured images may always look upright, be free ofhigh frequency jitter, and look steady.

FIG. 4 is a block diagram of a handheld gimbal control device accordingto an example embodiment. As shown in FIG. 4, the control device 300includes an acquisition circuit 310, a selection circuit 320, and acontrol circuit 330.

The acquisition circuit 310 is configured to obtain a first inputinstruction. The selection circuit 320 is configured to select a followmode from a plurality of follow modes for following a movement of aninput device or a handheld member of a handheld gimbal based on thefirst input instruction. The plurality of follow modes may havedifferent following speeds. The control circuit 330 is configured tocontrol the movement of the handheld gimbal using the selected followmode to follow the movement of the input device or the handheld member.

In some embodiments, the acquisition circuit 310 may be configured tofurther obtain a second input instruction. The selection circuit 320 maybe configured to determine axis assemblies of the handheld gimbal thatneed to move in the selected follow mode based on the second inputinstruction. The selected follow mode may be used to control themovement of the axis assemblies that need to be moved.

In some embodiments, when the following speed is the greatest among theplurality of follow modes, the roll axis arm of the handheld gimbal maybe kept in a horizontal attitude.

In some embodiments, the plurality of follow modes may include a firstfollow mode and a second follow mode. In the first follow mode, a firstspeed may be calculated to control the movement of the handheld gimbal.In the second follow mode, a second speed may be calculated, and thefirst speed and the second speed may be summed to control the movementof the handheld gimbal. The first speed may be determined by adifference between an actual attitude of the photograph device mountedon the handheld gimbal and an actual attitude of the input device or thehandheld member. The second speed may be determined by a differencebetween a current target attitude and a preceding target attitude in theprocess of controlling the handheld gimbal.

In some embodiments, the control circuit 330 may be configured tosubtract the actual attitude of the photograph device and a dead bandfrom the actual attitude of the input device or the handheld member toobtain an amount of attitude that the photograph device needs to beadjusted. Based on an acceleration of the input device or the handheldmember, an amount of dynamic following change may be determined. Theamount of the attitude that the photograph device needs to be adjustedmay be multiplied by the amount of the dynamic following change and apre-configured speed coefficient to obtain the first speed.

In some embodiments, the dead band used to calculate the first speed inthe second following mode may be smaller than the dead band used tocalculate the first speed in the first follow mode.

In some embodiments, the amount of the dynamic following change used tocalculate the first speed in the second following mode may be greaterthan the amount of the dynamic following change used to calculate thefirst speed in the first follow mode.

In some embodiments, the speed coefficient used to calculate the firstspeed in the second following mode may be greater than the speedcoefficient used to calculate the first speed in the first follow mode.

In some embodiments, the control circuit 330 may be configured todetermine the actual attitude of the photograph device using an inertialmeasurement unit (IMU). No relative movement may exist between the IMUand the photograph device. Movement data of the IMU and electric motorsof the handheld gimbal may be used to determine the actual attitude ofthe input device or the handheld member.

In some embodiments, the control circuit 330 may be configured tocalculate an attitude difference between the current target attitude andthe preceding target attitude of the photograph device in the controlprocess, and to divide the attitude difference by a length of a controltime interval, to obtain the second speed.

The control device 300 can perform various operations by the processorin the method 200 as shown in FIG. 2. For brevity, the descriptions arenot repeated herein.

The present disclosure provides a handheld gimbal including a bracket,an input device, a handheld member, and a processor. The bracket may beconnected to the input device. The handheld member may be connected tothe input device. The bracket may include at least one axis assemblyconnected in series. One end of the at least one axis assembly may beconnected to the input device. The other end of the at least one axisassembly may be connected to a photograph device. Each axis assembly mayinclude an axis arm and an electric motor configured to move the axisarm. The input device may be configured to obtain a first inputinstruction. The processor may be configured to select a follow modefrom a plurality of follow modes for following movement of the inputdevice or the handheld member of the handheld gimbal based on the firstinput instruction obtained by the input device. The plurality of followmodes may have different following speeds. The selected follow mode maybe used to control the movement of the at least one axis assembly tofollow the movement of the input device or the handheld member.

In some embodiments, the input device may be configured to obtain asecond input instruction. The processor may be configured to determineaxis assemblies of the handheld gimbal that need to move in the selectedfollow mode based on the second input instruction obtained by the inputdevice. The selected follow mode may be used to control the movement ofthe axis assemblies that need to be moved.

In some embodiments, when the following speed is the greatest among theplurality of follow modes, the roll axis arm of the handheld gimbal maybe kept in a horizontal attitude.

In some embodiments, the plurality of follow modes may include a firstfollow mode and a second follow mode. In the first follow mode, a firstspeed may be calculated to control the movement of the handheld gimbal.In the second follow mode, a second speed may be calculated, and thefirst speed and the second speed may be summed to control the movementof the handheld gimbal. The first speed may be determined by adifference between an actual attitude of the photograph device mountedon the handheld gimbal and an actual attitude of the input device or thehandheld member. The second speed may be determined by a differencebetween a current target attitude and a preceding target attitude in thecontrol process of the handheld gimbal.

In some embodiments, the processor may be further configured to subtractthe actual attitude of the photograph device and a dead band from theactual attitude of the input device or the handheld member to obtain theamount of the attitude that the photograph device needs to be adjusted.Based on an acceleration of the input device or the handheld member, anamount of dynamic following change may be determined. The amount of theattitude that the photograph device needs to be adjusted may bemultiplied by the amount of the dynamic following change and apre-configured speed coefficient to obtain the first speed.

In some embodiments, the dead band used to calculate the first speed inthe second following mode may be smaller than the dead band used tocalculate the first speed in the first follow mode.

In some embodiments, the amount of the dynamic following change used tocalculate the first speed in the second following mode may be greaterthan the amount of the dynamic following change used to calculate thefirst speed in the first follow mode.

In some embodiments, the speed coefficient used to calculate the firstspeed in the second following mode may be greater than the speedcoefficient used to calculate the first speed in the first follow mode.

In some embodiments, the handheld gimbal may include an inertialmeasurement unit (IMU). The processor may be further configured todetermine the actual attitude of the photograph device using the IMU. Norelative movement may exist between the IMU and the photograph device.Movement data of the IMU and electric motors of the handheld gimbal maybe used to determine the actual attitude of the input device or thehandheld member.

In some embodiments, the processor may be further configured tocalculate an attitude difference between the current target attitude andthe preceding target attitude of the photograph device. The attitudedifference may be divided by a length of a control time interval toobtain the second speed.

In some embodiments, the processor may be configured to obtain a thirdinput instruction. Based on the third input instruction, parameters usedin calculating the following speeds in various follow modes may beconfigured in advance.

In some embodiments, the pre-configured parameters may include at leastone of the dead band, the amount of the dynamic following change, or thespeed coefficient, which are used in calculating the following speed.

In some embodiments, a plurality of parameter sets may be configured inthe handheld gimbal. Each parameter set may be used to calculate thefollowing speeds in various follow modes. The processor may be furtherconfigured to obtain a fourth input instruction. Based on the fourthinput instruction, one parameter set may be selected from the pluralityof parameter sets to calculate the following speeds in various followmodes.

In some embodiments, the input device may include at least one controlbutton. The processor may be configured to obtain the first inputinstruction triggered by at least a portion of the at least one controlbutton.

In some embodiments, the number of control buttons included in the inputdevice may be the same as the number of the plurality of follow modes.The first input instruction triggered by one control button may be usedto select one of the plurality of follow modes.

In some embodiments, the at least one control button may include a firstcontrol button. The processor may be configured to select a secondfollow mode when the first control button persistently triggers thefirst input instruction. When the first control button stopspersistently triggering the first input instruction, the handheld gimbalmay be controlled to return to the follow mode selected before the firstcontrol button persistently triggered the first input instruction.

In some embodiments, the plurality of follow modes may include aplurality of first follow modes. The processor may be further configuredto select one first follow mode from the plurality of first follow modeswhen the first input instruction is an instant instruction triggered bythe first control button.

In some embodiments, the processor may be further configured to selectone first follow mode sequentially from the plurality of first followmodes.

In some embodiments, the input device may include a plurality ofindicators. The plurality of indicators may be one-to-one correspondingto the plurality of first follow modes. The processor may be furtherconfigured to turn on a corresponding indicator when one of theplurality of first follow modes is selected.

In some embodiments, the bracket may include a positioning assembly, afastening assembly, and a sliding assembly. The positioning assembly maybe disposed on one side of an axis arm. The fastening assembly may bedisposed on another side of the axis arm.

In some embodiments, the sliding assembly may be disposed on thefastening assembly and may slide relative to the fastening assembly. Thesliding assembly and the positioning assembly may be used to hold thephotograph device.

In some embodiments, the positioning assembly may include a rotating armrotatable around the axis arm and a connecting member configured toslide relative to the rotating arm and to connect to the photographdevice.

In some embodiments, the sliding assembly may include a support plate.The support plate may be disposed on the fastening assembly. The supportplate may slide relative to the fastening assembly.

In some embodiments, the sliding assembly may further include a slider.The slider may slide relative to the support plate. The photographdevice may be disposed on the slider.

In some embodiments, a lens holder may be disposed on one end of thesupport plate to hold the lens of the photograph device.

In some embodiments, the axis arm configured to connect the fasteningassembly and the positioning assembly may be a pitch axis arm.

FIG. 1 may be referred to for the structure of the handheld gimbal. Forbrevity, the descriptions are not repeated here.

The processor in the handheld gimbal can perform various operations inthe method 200 as shown in FIG. 2. For brevity, the descriptions are notrepeated herein.

The foregoing descriptions are merely some implementation manners of thepresent disclosure, but the scope of the present disclosure is notlimited thereto. Any change or replacement that can be conceived by aperson skilled in the art based on the technical scope disclosed by thepresent application should be covered by the scope of the presentdisclosure. A true scope and spirit of the invention is indicated by thefollowing claims.

What is claimed is:
 1. A method of controlling a handheld gimbalcomprising: obtaining an input instruction; based on the inputinstruction, selecting one follow mode from a plurality of follow modesfor following movement of an input device or a handheld member of thehandheld gimbal, the plurality of follow modes having differentfollowing speeds, and the plurality of follow modes including a rapidfollow mode; and controlling movement of the handheld gimbal using theselected one follow mode to follow the movement of the input device orthe handheld member, including: in response to the rapid follow modebeing selected, controlling the movement of the handheld gimbalaccording to a sum of a first speed and a second speed, the first speedand the second speed being determined based on different information. 2.The method of claim 1, wherein the input instruction is a first inputinstruction; the method further comprising: obtaining a second inputinstruction; and based on the second input instruction, determining axisassemblies of the handheld gimbal that need to move in the selectedfollow mode; wherein controlling the movement of the handheld gimbalusing the selected follow mode further includes controlling movement ofthe axis assemblies that need to move using the selected follow mode. 3.The method of claim 1, wherein controlling the movement of the handheldgimbal further includes: in response to a follow mode having a largestfollowing speed among the plurality of follow modes being selected,controlling a roll axis arm of the handheld gimbal to maintain ahorizontal attitude.
 4. The method of claim 1, wherein: the first speedis determined by a difference between an actual attitude of a photographdevice held by the handheld gimbal and an actual attitude of the inputdevice or the handheld member, and the second speed is determined by adifference between a current target attitude and a preceding targetattitude in a process of controlling the handheld gimbal.
 5. The methodof claim 4, wherein: the plurality of follow modes further include aregular follow mode; and controlling the movement of the handheld gimbalfurther includes: in response to the regular follow mode being selected,controlling the movement of the handheld gimbal according to the firstspeed.
 6. The method of claim 5, wherein the first speed is determinedby: subtracting the actual attitude of the photograph device and a deadband from the actual attitude of the input device or the handheld memberto obtain an attitude amount that the photograph device needs to beadjusted; based on an acceleration of the input device or the handheldmember, determining an amount of dynamic following change; andmultiplying the attitude amount that the photograph device needs to beadjusted by the amount of the dynamic following change and apre-configured speed coefficient to obtain the first speed.
 7. Themethod of claim 6, wherein: the dead band used in calculating the firstspeed in the rapid follow mode is smaller than the dead band used incalculating the first speed in the regular follow mode.
 8. The method ofclaim 6, wherein: the amount of the dynamic following change used incalculating the first speed in the rapid follow mode is greater than theamount of the dynamic following change used in calculating the firstspeed in the regular follow mode.
 9. The method of claim 6, wherein: thespeed coefficient used in calculating the first speed in the rapidfollow mode is greater than the speed coefficient used in calculatingthe first speed in the regular follow mode.
 10. The method of claim 6,further comprising: determining the actual attitude of the photographdevice using an inertial measurement unit (IMU), no relative movementexisting between the IMU and the photograph device; and determining theactual attitude of the input device or the handheld member usingmovement data of the IMU and electric motors of the handheld gimbal. 11.The method of claim 4, wherein the second speed is determined by:calculating an attitude difference between the current target attitudeand the preceding target attitude of the photograph device in theprocess of controlling the handheld gimbal; and dividing the attitudedifference by a length of a control time interval to obtain the secondspeed.
 12. The method of claim 1, further comprising: configuringparameters used in determining the different following speeds of theplurality of follow modes, the parameters including at least one of adead_band, an amount of dynamic following change, or a speedcoefficient.
 13. The method of claim 1, wherein: the handheld gimbalincludes at least one control button; and obtaining the inputinstruction includes: obtaining the input instruction triggered by atleast a portion of the at least one control button.
 14. The method ofclaim 13, wherein: a number of the at least one control button includedin the handheld gimbal is same as a number of the plurality of followmodes; and the input instruction triggered by the at least a portion ofthe at least one control button is used to select the one follow modefrom the plurality of follow modes.
 15. The method of claim 13, wherein:selecting the one follow mode includes: selecting the rapid follow modein response to one of the at least one control button persistentlytriggering the input instruction; and in response to the one of the atleast one control button stopping persistently triggering the inputinstruction, controlling the handheld gimbal to return to a state beforethe one of the at least one control button persistently triggered theinput instruction.
 16. The method of claim 15, wherein: the plurality offollow modes further include a plurality of regular follow modes thatcontrol the movement of the handheld gimbal according to the firstspeed, the plurality of regular follow modes including the regularfollow mode; and selecting the one follow mode includes: selecting oneregular follow mode from the plurality of regular follow modes inresponse to the input instruction being an instant instruction triggeredby the one of the at least one control button.
 17. The method of claim16, wherein selecting the one first follow mode from the plurality offirst follow modes includes: selecting the one regular follow modeaccording to an order of the plurality of regular follow modes.
 18. Themethod of claim 16, wherein the handheld gimbal includes a plurality ofindictors corresponding to the plurality of regular follow modes,respectively; the method further comprising: in response to the oneregular follow mode being selected, turning on one of the indicatorsthat corresponds to the one regular follow mode.
 19. A handheld gimbalcomprising: an input device configured to obtain an input instruction; ahandheld member connected to the input device; a bracket connected tothe input device and including one or more axis assemblies, each of theone or more axis assemblies including an axis arm and an electric motorfor driving the axis arm to move; and a processor configured to: basedon the input instruction, select one follow mode from a plurality offollow modes for following movement of an input device or a handheldmember of the handheld gimbal, the plurality of follow modes havingdifferent following speeds, and the plurality of follow modes includinga rapid follow mode; and control movement of the handheld gimbal usingthe selected one follow mode to follow the movement of the input deviceor the handheld member, including: in response to the rapid follow modebeing selected, controlling the movement of the handheld gimbalaccording to a sum of a first speed and a second speed, the first speedand the second speed being determined based on different information.20. The handheld gimbal of claim 19, wherein: the first speed isdetermined by a difference between an actual attitude of a photographdevice held by the handheld gimbal and an actual attitude of the inputdevice or the handheld member, and the second speed is determined by adifference between a current target attitude and a preceding targetattitude in a process of controlling the handheld gimbal.